App. Res. of Comp. Accepted Paper
Vol. 43, 2026 No. 10

Three-dimensional space path planning method for robotic arms based on improved RRT* efficient guidance and adjustment strategy

Liu Zhidong1,2
Liu Qing1
Liu Zhijie2
1. School of Automotive and Rail Transit, Tianjin Sino-German University of Applied Sciences, Tianjin 300350, China
2. School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China
DOI: 10.19734/j.issn.1001-3695.2026.03.0031

Abstract

To address low path planning efficiency, difficult obstacle avoidance, and serial multi-target planning requirements for manipulators operating in the complex three-dimensional truss space of transmission towers, a novel APF-Informed-RRT* algorithm fusing improved artificial potential field (APF) guidance and phased hybrid sampling is proposed. It constructs a phased hybrid sampling strategy combined with ellipsoidal domain contraction sampling to accelerate optimal path search, optimizes the repulsive force function and dynamic weight adjustment strategy to solve the unreachable near-obstacle target problem, and adopts greedy pruning and cubic B-spline interpolation to generate smooth paths conforming to manipulator kinematic constraints. Experimental results show that in 2D single-target and 3D single-target environments, compared with Goal-RRT*, APF-RRT* and Informed-RRT* algorithms, the proposed algorithm reduces the average planning time by a maximum of 53.23% and 85.36% respectively, and reduces the average path length by a maximum of 14.92% and 5.17% respectively. In the 3D multi-target environment, compared with APF-RRT* and Informed-RRT* algorithms, it reduces the average planning time and path length by a maximum of 51.32% and 26.14% respectively. It conducts parameter sensitivity and convergence performance analyses, and achieves collision-free multi-target path planning in a PyBullet transmission tower environment with an average node optimization rate of 78.79%, demonstrating strong engineering applicability.

Foundation Support

国家自然科学基金资助项目(62473039)
中央高校基本科研业务费专项资金(FRF-GF-25-011)
天津中德应用技术大学科技培育重点项目(zdkt2021-003)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2026.03.0031
Publish at: Application Research of Computers Accepted Paper, Vol. 43, 2026 No. 10

Publish History

[2026-07-29] Accepted Paper

Cite This Article

刘志东, 刘庆, 刘志杰. 基于改进RRT*高效引导调节策略的机械臂三维空间路径规划方法 [J]. 计算机应用研究, 2026, 43 (10). (2026-07-30). https://doi.org/10.19734/j.issn.1001-3695.2026.03.0031. (Liu Zhidong, Liu Qing, Liu Zhijie. Three-dimensional space path planning method for robotic arms based on improved RRT* efficient guidance and adjustment strategy [J]. Application Research of Computers, 2026, 43 (10). (2026-07-30). https://doi.org/10.19734/j.issn.1001-3695.2026.03.0031. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

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